Quantized-states-based adaptive control against unknown slippage effects of uncertain mobile robots with input and state quantization

An adaptive tracking design strategy based on quantized state feedback is developed for uncertain nonholonomic mobile robots with unknown wheel slippage effects. All state variables and control torques are assumed to be quantized by the state and input quantizers, respectively, in a network control environment. Thus, the quantized state feedback information is only available for the tracking control design. An approximation-based adaptive controller using quantized states is recursively designed to ensure the robust adaptive tracking against unknown wheel slippage effects where the quantized-states-based adaptive mechanism is derived to compensate for unknown wheel slippage effects, system nonlinearities, and quantization errors. The boundedness of the quantization errors and estimated parameters in the closed-loop system is analyzed by presenting some theoretical lemmas. Based on these lemmas, we prove the uniform ultimate boundedness of closed-loop signals and the convergence of the trajectory tracking error in the presence of wheel slippage effects. Simulations verify the effectiveness of the resulting tracking scheme.     

基于TOPSIS模型的机场网络节点重要度评估

在机场网络中单个机场节点的失效往往会对其他的节点产生影响,特别是关键节点的失效会波及整个网络.准确客观的识别重要节点机场关乎整个机场网络的安全运营.本文分析了机场网络拓扑特性中的度、集聚系数和接近度指标,考虑了机场旅客吞吐量和所在城市人口等交通经济特性指标,使用熵权法确定权重的基础上,应用TOPSIS法构建综合评价体系模型,最后以华东地区机场网络为例进行节点重要度排序.结果表明与单一指标的评估结果相比,该方法更加全面客观的确定不同属性指标的权重,避免了不同指标取值的差异性,使评价更加全面,更符合机场网络实际运营情况.     

Explosive synchronization in a mobile network in the presence of a positive feedback mechanism

Synchronization is a process that describes the coherent dynamics of a large ensemble of interacting units.The study of explosive synchronization transition attracts considerable attention.Here,I report the explosive transition within the framework of a mobile network,while each oscillator is controlled by global-order parameters of the system.Using numerical simulation,I find that the explosive synchronization(ES)transition behavior can be controlled by simply adjusting the fraction of controlled oscillators.The influences of some parameters on explosive synchronization are studied.Moreover,due to the presence of the positive feedback mechanism,I prevent the occurrence of the synchronization of continuous-phase transition and make phase transition of the system a first-order phase transition accompanied by a hysteresis loop.     

超空泡射弹水下侵彻靶板三相耦合数值模拟

超空泡射弹侵彻问题的实质是特殊水下结构受到高速冲击载荷作用下的动态响应。对12.7 mm口径超空泡射弹侵彻典型水下目标壳体的毁伤效果开展研究,基于LS-DYNA有限元分析软件建立水环境中超空泡射弹垂直侵彻曲面靶板的等效模型,探讨射弹侵彻过程中动能侵彻和气泡溃灭对靶板联合毁伤效果,获得了靶板在各阶段的应力变化和结构变形规律。结果表明:侵彻靶板前,射弹着靶速度为200 m/s时的头部表面水介质压力峰值达768 N,靶板表面有明显下凹变形;侵彻靶板时,伴随着射弹动能侵彻和气泡溃灭冲击,水介质造成的影响不足动能侵彻的2%;侵彻靶板后,在靶板正面形成峰值速度为42 m/s的水射流进一步作用于破口;靶板整体弯曲变形,在200~300 m/s范围内,随着射弹着靶速度的增加,靶板弯曲形变量减小;靶板局部发生延性穿孔,射弹在水环境中具有更好的破口效果,射弹速度变化对破口尺寸影响不大。     

Effect of size and shape controlled biogenic synthesis of gold nanoparticles and their mode of interactions against food borne bacterial pathogens

In this study, size and shape controlled biogenic synthesis of gold nanoparticles and their antibacterial activity against food borne bacterial pathogens were investigated. Synthesis of gold nanoparticles was carried out using two medicinally important plants Cucurbita pepo and Malva crispa and the size and shape of the nanoparticles were controlled by altering various parameters in the reaction medium. Results obtained from UV–Vis, FE-SEM, EDS and HR-TEM analyses supported the nanoparticles formation. FT-IR analysis confirmed the presence of biomolecules in the plant leaves extracts responsible for reducing and capping agents. Interestingly, the plant extract synthesized gold nanoparticles showed effective inhibition zone against Gram-positive and Gram-negative pathogens. The minimum inhibitory concentration (MIC) of synthesized gold nanoparticles at 400 μg/ml concentration showed effective inhibitory activity against Escherichia coli and Listeria monocytogenes. Conductivity of the medium continuously increased during the nanoparticles treatment with food borne bacterial pathogens resulting in indirect indication of the disruption of bacterial cell membranes. In addition, mode of interactions of gold nanoparticles against food borne bacterial pathogens was demonstrated using Bio-TEM analysis which is clear evident for the disruption of bacterial cell membranes.     

Computational modelling of multi-material energetic materials and systems

ABSTRACT

In this paper, we present a systematic roadmap for developing a robust and parallel multi-material reactive hydrodynamic solver that integrates historically stable algorithms with new and current modern methods to solve explosive system design problems. The Ghost Fluid Method and Riemann solvers were used to enforce appropriate interface boundary conditions. Improved performance in terms of computational work and convergence properties was achieved by modifying a local node sorting strategy that decouples ghost nodes, allowing us to set material boundary conditions via an explicit procedure, removing the need to solve a coupled system of equations numerically. The locality and explicit nature of the node sorting concept allows for greater levels of parallelism and lower computational cost when populating ghost nodes. Non-linear numerical issues endemic to the use of real Equations of State in hydro-codes were resolved by using more thermodynamically consistent forms allowing us to accurately resolve large density gradients associated with high energy detonation problems at material interfaces. Pre-computed volume tables were implemented adding to the robustness of the solver base.     

单宁酸/两性离子改性油-水分离膜的制备及性能

以不锈钢网为基材, 利用单宁酸对不锈钢网进行表面预处理并功能化接枝两性离子基团, 制备了新型亲水和水下超疏油的单宁酸/两性离子改性油-水分离膜(TA-ZW-SSM). 利用X射线光电子能谱仪(XPS)、 扫描电子显微镜(SEM)及接触角测量仪等表征了其化学结构、 形态和润湿性. 研究结果表明, 两性离子基团通过化学键接枝在单宁酸预处理的不锈钢网表面. 油-水分离实验结果表明, 对于不同类型的油-水混合物, 本文制备的超亲水和水下超疏油特性的TA-ZW-SSM可实现重力驱动的高效油-水分离, 并具有较好的化学稳定性及再循环性.     

Dynamic analysis and regulation of the flexible pipe conveying fluid with a hard-magnetic soft segment

Applied Mathematics and Mechanics - The recently developed hard-magnetic soft (HMS) materials can play a significant role in the actuation and control of medical devices, soft robots, flexible...     

High‐order ADER‐WENO ALE schemes on unstructured triangular meshes—application of several node solvers to hydrodynamics and magnetohydrodynamics

In this paper, we present a class of high‐order accurate cell‐centered arbitrary Lagrangian–Eulerian (ALE) one‐step ADER weighted essentially non‐oscillatory (WENO) finite volume schemes for the solution of nonlinear hyperbolic conservation laws on two‐dimensional unstructured triangular meshes. High order of accuracy in space is achieved by a WENO reconstruction algorithm, while a local space–time Galerkin predictor allows the schemes to be high order accurate also in time by using an element‐local weak formulation of the governing PDE on moving meshes. The mesh motion can be computed by choosing among three different node solvers, which are for the first time compared with each other in this article: the node velocity may be obtained either (i) as an arithmetic average among the states surrounding the node, as suggested by Cheng and Shu, or (ii) as a solution of multiple one‐dimensional half‐Riemann problems around a vertex, as suggested by Maire, or (iii) by solving approximately a multidimensional Riemann problem around each vertex of the mesh using the genuinely multidimensional Harten–Lax–van Leer Riemann solver recently proposed by Balsara et al. Once the vertex velocity and thus the new node location have been determined by the node solver, the local mesh motion is then constructed by straight edges connecting the vertex positions at the old time level tⁿ with the new ones at the next time level t^{n + 1}. If necessary, a rezoning step can be introduced here to overcome mesh tangling or highly deformed elements. The final ALE finite volume scheme is based directly on a space–time conservation formulation of the governing PDE system, which therefore makes an additional remapping stage unnecessary, as the ALE fluxes already properly take into account the rezoned geometry. In this sense, our scheme falls into the category of direct ALE methods. Furthermore, the geometric conservation law is satisfied by the scheme by construction. We apply the high‐order algorithm presented in this paper to the Euler equations of compressible gas dynamics as well as to the ideal classical and relativistic magnetohydrodynamic equations. We show numerical convergence results up to fifth order of accuracy in space and time together with some classical numerical test problems for each hyperbolic system under consideration. Copyright © 2014 John Wiley & Sons, Ltd.     

Heterogeneous virus propagation in networks: a theoretical study

The node‐based epidemic modeling is an effective approach to the understanding of the impact of the structure of the propagation network on the epidemics of electronic virus. In view of the heterogeneity of the propagation network, a heterogeneous node‐based SIRS model is proposed. Theoretical analysis shows that the maximum eigenvalue of a matrix related to the model determines whether viruses tend to extinction or persist. When viruses persist, the connectedness of the propagation network implies the existence and uniqueness of a viral equilibrium, and a set of sufficient conditions for the global stability of the viral equilibrium are given. Numerical examples verify the correctness of our results. Copyright © 2016 John Wiley & Sons, Ltd.